EP3216377A1 - Guide-type virtual wall system - Google Patents

Guide-type virtual wall system Download PDF

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Publication number
EP3216377A1
EP3216377A1 EP15857127.3A EP15857127A EP3216377A1 EP 3216377 A1 EP3216377 A1 EP 3216377A1 EP 15857127 A EP15857127 A EP 15857127A EP 3216377 A1 EP3216377 A1 EP 3216377A1
Authority
EP
European Patent Office
Prior art keywords
signal
robot
beacon
virtual wall
guide
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15857127.3A
Other languages
German (de)
French (fr)
Other versions
EP3216377A4 (en
EP3216377B1 (en
Inventor
Jinju Tang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
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Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Publication of EP3216377A1 publication Critical patent/EP3216377A1/en
Publication of EP3216377A4 publication Critical patent/EP3216377A4/en
Application granted granted Critical
Publication of EP3216377B1 publication Critical patent/EP3216377B1/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to a guide-type virtual wall system, which belongs to the technical field of the manufacture of small household electric appliances.
  • an emitting device is used to emit an infrared signal, an ultrasonic signal, or the like, and when the robot detects these signals, it keeps away from these signals), although this method is easy to operate, a part of the area covered by the signal may be missed.
  • the virtual wall is used to form an absolute restriction on the restricted area in both of the above methods.
  • the robot sometimes needs to cross over the virtual wall to enter the restricted area, but neither of the existing technical solutions can achieve such operation.
  • the present invention aims to provide a guide-type virtual wall system, which is capable of restricting the robot from entering a certain area without missing the area where the virtual wall locates and also enables the robot to cross over the virtual wall to enter the restricted area when required.
  • the beacon signal transmission module is provided with a plurality of sub-signal transmission modules, and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.
  • the first signal or the second signal is provided with certain encoded information, and when the robot detects the second signal, the robot determines whether to cross over or exit from the beacon signal area based on the encoded information.
  • the plurality of sub-signals are provided with different encoded information.
  • the robot when the robot detects the second signal, the robot exits from the beacon signal area.
  • the robot further comprises an obstacle detecting module, and the second signal is generated when the robot detects an obstacle.
  • the obstacle detecting module is an infrared sensor, an ultrasonic sensor or a travel switch.
  • the guide-type virtual wall system further comprises a second signal generator provided on one side close to the beacon or provided on the beacon, and the robot is provided with a corresponding second signal sensor, the second signal being generated by the second signal generator.
  • an area covered by the signal generated by the second signal generator defines a second signal area, and the beacon is provided within the second signal area.
  • the second signal generator is a passive device or an active device.
  • the passive device is an electronic tag, a magnetic stripe or a color card
  • the active device is an infrared transmitter, an ultrasonic transmitter, or a radio wave transmitter.
  • the beacon signal transmission module is an infrared transmission module or an ultrasonic transmission module.
  • the infrared transmission module or the ultrasonic transmission module comprises one or more emission sources.
  • the robot is a floor cleaning robot, an air purification robot or a monitoring robot.
  • the present invention also provide a guide-type virtual wall system comprising a beacon and a robot, wherein a transmission module of the beacon directionally transmitting a first signal, an area covered by the first signal defines a beacon signal area, and the robot comprises a beacon signal receiving module corresponding to the beacon signal transmission module.
  • a transmission module of the beacon directionally transmitting a first signal
  • an area covered by the first signal defines a beacon signal area
  • the robot comprises a beacon signal receiving module corresponding to the beacon signal transmission module.
  • the present invention is advantageous in that, by additionally providing a second signal in the virtual wall system, it is enabled not only that the robot is restricted from entering a certain area without missing the area where the virtual wall locates, but also that the robot is allowed to cross over the virtual wall to enter the restricted area when required.
  • Fig. 1 is a schematic view of the overall application of the guide-type virtual wall of the present invention.
  • the virtual wall system of the present invention comprises a beacon 11 and a robot 12.
  • the beacon 11 is generally provided at an entrance of a certain area, such as a doorway of a room.
  • a certain area such as a doorway of a room.
  • Each room has a door, with a beacon of the virtual wall system of the present invention being installed at the bottom of one side of the door frame.
  • the beacon transmits a first signal to the other side of the door frame, and an area covered by the first signal defines a beacon signal area 13 which constitutes the virtual wall of the present invention.
  • the robot 12 may be a floor cleaning robot, an air purification robot, a monitoring robot, or the like.
  • the robot 12 may advance towards or away from the direction of the beacon 11 until it detects a second signal, and then the robot 12 crosses over or exits from the beacon signal area 13.
  • exiting from the beacon signal area 13 means that the robot leaves the beacon signal area 13 from the same side as that when initially entering the beacon signal area, and crossing over the beacon signal area 13 means that the robot leaves the beacon signal area 13 from the opposed side to that when entering the beacon signal area.
  • Fig. 2 is a partial enlarged view of the area C shown in Fig. 1 of the present invention.
  • the beacon 11 comprises a beacon signal transmission module, such as an infrared transmission module or an ultrasonic transmission module, and the infrared transmission module or the ultrasonic transmission module may comprise one or more emission sources that transmit towards the same direction, depending on the needs to the signal intensity.
  • the robot 12 comprises a beacon signal receiving module corresponding to the beacon signal transmission module, such as an infrared receiving module or an ultrasonic receiving module.
  • the robot 12 also comprises an obstacle detecting module, and the obstacle detecting module may be an infrared sensor, an ultrasonic sensor or a travel switch.
  • the beacon is provided at the bottom of one side of the door frame of a room and directionally transmits a beacon signal, i.e., a first signal, to the other side of the door frame via the beacon signal transmission module, and an area covered by the first signal defines a beacon signal area 13.
  • a beacon signal i.e., a first signal
  • the robot 12 advances towards the direction of the beacon 11 until the obstacle detecting module on the robot 12 detects an obstacle and a second signal is generated, and then the robot 12 exits from the beacon signal area 13.
  • the obstacle is the beacon 11, and in the other embodiments of the present invention, the obstacle may also be other objects, such as a door frame or a wall.
  • the robot 12 advances towards the direction of the beacon 11 when detecting the first signal, i.e., the beacon signal.
  • the position from which the robot 12 enters the beacon signal area 13 is random, and thus in the present embodiment, the robot 12 may advance either towards or away from the direction of the beacon 11.
  • the robot 12 may meet an obstacle, such as the other door frame or a wall, away from the beacon 11, or the robot may meet nothing.
  • a predetermined distance for which the robot can walk it is necessary to set a predetermined distance for which the robot can walk so that, if the robot detects an obstacle within the predetermined distance, a second signal is generated to allow the robot to exit from the beacon signal area 13, and if the robot meets no obstacle within the predetermined distance, a second signal is also generated to allow the robot to exit from the beacon signal area 13 when the robot has walked for the predetermined distance.
  • a predetermined distance may also be applied to the case where the robot advances towards the direction of the beacon 11.
  • the present embodiment is different from the first and the second embodiments in that the second signal is not generated by the robot meeting an obstacle or when the robot having walked for a predetermined distance, and a second signal generator used to generate a second signal is additionally provided on one side close to the beacon or provided on the beacon, with the robot 12 being provided with a corresponding second signal sensor.
  • An area covered by the signal generated by the second signal generator defines a second signal area 14, and the second signal generator may be an active device (e.g., an infrared transmitter, an ultrasonic transmitter or a radio wave transmitter) or a passive device (such as an electronic tag, a magnetic stripe or a color card).
  • the robot 12 advances towards the direction of the beacon 11 until it enters the second signal area 14 and the second signal sensor on the robot 12 detects the second signal, and then the robot 12 exits from the beacon signal area 13.
  • the reason why the second signal generator is provided within the beacon signal area 13 on one side close to the beacon is that the directionally transmitted beacon signal is spindle-shaped, and thus it can be better guaranteed that the second signal can be detected by the robot if the robot 12 advances towards the direction of the beacon when detecting the first signal.
  • the beacon 11 may be provided within the second signal area 14 so as to prevent the beacon 11 from being deformed or damaged due to the collision between the robot and the beacon 11, that is, it corresponds to that the second signal forms a virtual protective cover outside the beacon.
  • the present embodiment differs from the third embodiment in that the first signal or the second signal is provided with certain encoded information which is capable of identifying a certain area such as a room.
  • the robot determines whether to cross over or exit from the beacon signal area based on the encoded information. Specifically, the robot can access the encoded information and the cleaning state information corresponding to each piece of the encoded information.
  • the robot may further extract the cleaning state information corresponding to such encoded information and perform a corresponding action based on the cleaning state information. For example, when the cleaning state information indicates that the area has been cleaned, the robot may exit from the beacon signal area, and when the cleaning state information indicates that the area has not been cleaned, the robot may cross over the beacon signal area.
  • the infrared transmission module or the ultrasonic transmission module that generates the first signal may transmit an infrared ray or an ultrasonic wave with the encoded information
  • the active device such as an infrared transmitter, an ultrasonic transmitter or a radio wave transmitter, that generates the second signal may transmit an infrared ray, an ultrasonic wave, or a radio wave with the encoded information
  • the passive device such as an electronic tag and a magnetic stripe, that generates the second signal may store the encoded information in advance, and then the robot 12 may read out the encoded information when entering the second signal area; and the color card can distinguish the rooms from each other through different colors that also constitute the encoded information.
  • the present embodiment is illustrated by a cleaning robot as an example.
  • the robot 12 may access the room identification information and the cleaning state information of each room of the encoded information.
  • the robot 12 may advance towards the direction of the beacon, and when the robot reaches to the second signal area 14, it reads out the encoded information of the second signal (for example, the robot reaches to Room 1).
  • the robot may recognize that the room is Room 1, and further extract the stored cleaning state information for each room so as to determine whether Room 1 has been cleaned or not. If it is determined that Room 1 has been cleaned, the robot may not enter the room and exit from the beacon signal area 13, that is, the robot may leave the beacon signal area 13 from the same side as that when entering the beacon signal area 13.
  • the robot 12 does not cross over the beacon signal area 13, but instead, it exits from such area along the initially entering direction. If it is determined that Room 1 has not been cleaned, the robot enters Room 1 so as to perform cleaning, and the robot 12 leaves the beacon signal area 13 from the opposed side to that when entering the beacon signal area 13. That is, the robot 12 has crossed over the beacon signal area 13. Upon completion of the cleaning, the robot may leave the room and update the cleaning state of Room 1 to be " having been cleaned.”
  • the present embodiment differs from the fourth embodiment in that the beacon signal transmission module is provided with a plurality of sub-signal transmission modules, and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.
  • the first signal comprises two sub-signals transmitted in different directions.
  • the first signal of the beacon 44 located within Room 4 comprises two sub-signals 441, 442 perpendicular to each other.
  • Room 4 is divided into three areas by one beacon.
  • the sub-signals 441, 442 carry with different encoded information such that the robot may recognize different areas. It is to be noted that those skilled in the art may correspondingly adjust the number of the set sub-signals and the angles at which the sub-signals are transmitted as needed so as to improve the operation efficiency of the robot.
  • the first signal or the second signal carries with the encoded information as in the present embodiment.
  • the robot 12 enters the beacon signal area 13 and the beacon signal receiving module detects the first signal, the robot 12 advances towards the direction of the beacon 11 until it detects a second signal, and then the robot determines whether to cross over or exit from the beacon signal area based on the encoded information.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

A guide-type virtual wall system. The system comprises a beacon (11, 44) and a robot (12), wherein a transmission module of the beacon (11, 44) directionally transmits a first signal, and a region covered by the first signal is a beacon signal region (13). The robot (12) comprises a beacon signal receiving module corresponding to the beacon signal transmission module. After the robot (12) enters the beacon signal region (13) and the first signal is detected by the beacon signal receiving module, the robot (12) advances towards the direction of the beacon (11, 44), and then crosses over or exits from the beacon signal region (13) until a second signal is detected by the robot (12). The system can restrict the robot (12) from entering a certain region, and the region where a virtual wall is located is not missed, and at the same time, enables the robot (12) to cross over the virtual wall to enter the restricted region when required.

Description

    Field of the Invention
  • The present invention relates to a guide-type virtual wall system, which belongs to the technical field of the manufacture of small household electric appliances.
    • Background art
  • In modern life, the application of robots has become more and more popular. It is expected that there is a virtual wall signal to restrict the robot from entering a certain area in practical operations. In the prior art, there are two main methods to form a virtual wall: (1) a method using a magnetic boundary, that is, a magnetic stripe is attached to the boundary of a restricted area, and when the robot detects the magnetic stripe, it keeps away from the magnetic stripe, which is relatively complicated to operate; and (2) a method using an active emitting device (for example, in the US patent No. 7579803B2 , an emitting device is used to emit an infrared signal, an ultrasonic signal, or the like, and when the robot detects these signals, it keeps away from these signals), although this method is easy to operate, a part of the area covered by the signal may be missed. Further, the virtual wall is used to form an absolute restriction on the restricted area in both of the above methods. However, in practical operations, the robot sometimes needs to cross over the virtual wall to enter the restricted area, but neither of the existing technical solutions can achieve such operation.
    • Summary of the Invention
  • To overcome the deficiencies in the prior art, the present invention aims to provide a guide-type virtual wall system, which is capable of restricting the robot from entering a certain area without missing the area where the virtual wall locates and also enables the robot to cross over the virtual wall to enter the restricted area when required.
  • The technical objective of the present invention is realized through the following technical solutions:
    • A guide-type virtual wall system comprises a beacon and a robot, wherein a transmission module of the beacon directionally transmits a first signal, an area covered by the first signal defines a beacon signal area, and the robot comprises a beacon signal receiving module corresponding to the beacon signal transmission module. When the robot enters the beacon signal area and the beacon signal receiving module detects the first signal, the robot advances towards the direction of the beacon until it detects a second signal, and then the robot crosses over or exits from the beacon signal area.
  • Preferably, the beacon signal transmission module is provided with a plurality of sub-signal transmission modules, and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.
  • According to one embodiment of the present invention, the first signal or the second signal is provided with certain encoded information, and when the robot detects the second signal, the robot determines whether to cross over or exit from the beacon signal area based on the encoded information.
  • Preferably, the plurality of sub-signals are provided with different encoded information.
  • According to another embodiment of the present invention, when the robot detects the second signal, the robot exits from the beacon signal area.
  • Preferably, the robot further comprises an obstacle detecting module, and the second signal is generated when the robot detects an obstacle.
  • Preferably, the obstacle detecting module is an infrared sensor, an ultrasonic sensor or a travel switch.
  • According to yet another embodiment of the present invention, the guide-type virtual wall system further comprises a second signal generator provided on one side close to the beacon or provided on the beacon, and the robot is provided with a corresponding second signal sensor, the second signal being generated by the second signal generator.
  • Preferably, an area covered by the signal generated by the second signal generator defines a second signal area, and the beacon is provided within the second signal area.
  • Preferably, the second signal generator is a passive device or an active device.
  • Preferably, the passive device is an electronic tag, a magnetic stripe or a color card, and the active device is an infrared transmitter, an ultrasonic transmitter, or a radio wave transmitter.
  • Preferably, the beacon signal transmission module is an infrared transmission module or an ultrasonic transmission module.
  • Preferably, the infrared transmission module or the ultrasonic transmission module comprises one or more emission sources.
  • Preferably, the robot is a floor cleaning robot, an air purification robot or a monitoring robot.
  • The present invention also provide a guide-type virtual wall system comprising a beacon and a robot, wherein a transmission module of the beacon directionally transmitting a first signal, an area covered by the first signal defines a beacon signal area, and the robot comprises a beacon signal receiving module corresponding to the beacon signal transmission module. When the robot enters the beacon signal area and the beacon signal receiving module detects the first signal, the robot advances towards or away from the direction of the beacon until it detects a second signal, and then the robot crosses over or exits from the beacon signal area, the second signal being generated when the robot walks for a certain distance or when the robot detects an obstacle.
  • The present invention is advantageous in that, by additionally providing a second signal in the virtual wall system, it is enabled not only that the robot is restricted from entering a certain area without missing the area where the virtual wall locates, but also that the robot is allowed to cross over the virtual wall to enter the restricted area when required.
  • The technical solution of the present invention now will be described in detail with reference to the accompanying drawings and specific embodiments.
    • Description of attached drawings
    • Fig. 1 is a schematic view of the overall application of the guide-type virtual wall of the present invention;
    • Fig. 2 is a partial enlarged view of the area C shown in Fig. 1 of the present invention; and
    • Fig. 3 is a schematic view of another overall application of the guide-type virtual wall of the present invention.
    Detailed Description of Preferred Embodiments
  • Fig. 1 is a schematic view of the overall application of the guide-type virtual wall of the present invention. As shown in Fig. 1, the virtual wall system of the present invention comprises a beacon 11 and a robot 12. The beacon 11 is generally provided at an entrance of a certain area, such as a doorway of a room. In Fig. 1, there are three rooms, which are Room ①, Room ② and Room ③ respectively. Each room has a door, with a beacon of the virtual wall system of the present invention being installed at the bottom of one side of the door frame. The beacon transmits a first signal to the other side of the door frame, and an area covered by the first signal defines a beacon signal area 13 which constitutes the virtual wall of the present invention. The robot 12 may be a floor cleaning robot, an air purification robot, a monitoring robot, or the like. When the robot 12 detects the first signal, the robot 12 may advance towards or away from the direction of the beacon 11 until it detects a second signal, and then the robot 12 crosses over or exits from the beacon signal area 13. Specifically, exiting from the beacon signal area 13 means that the robot leaves the beacon signal area 13 from the same side as that when initially entering the beacon signal area, and crossing over the beacon signal area 13 means that the robot leaves the beacon signal area 13 from the opposed side to that when entering the beacon signal area. In the following, the present invention will be described in detail with reference to four embodiments.
    • First embodiment
  • Fig. 2 is a partial enlarged view of the area C shown in Fig. 1 of the present invention. As shown in Fig. 2, in the present embodiment, the beacon 11 comprises a beacon signal transmission module, such as an infrared transmission module or an ultrasonic transmission module, and the infrared transmission module or the ultrasonic transmission module may comprise one or more emission sources that transmit towards the same direction, depending on the needs to the signal intensity. The robot 12 comprises a beacon signal receiving module corresponding to the beacon signal transmission module, such as an infrared receiving module or an ultrasonic receiving module. In addition, the robot 12 also comprises an obstacle detecting module, and the obstacle detecting module may be an infrared sensor, an ultrasonic sensor or a travel switch. The beacon is provided at the bottom of one side of the door frame of a room and directionally transmits a beacon signal, i.e., a first signal, to the other side of the door frame via the beacon signal transmission module, and an area covered by the first signal defines a beacon signal area 13. When the robot 12 enters the beacon signal area 13 and the beacon signal receiving module detects the first signal, the robot 12 advances towards the direction of the beacon 11 until the obstacle detecting module on the robot 12 detects an obstacle and a second signal is generated, and then the robot 12 exits from the beacon signal area 13. It should be noted that, in the present embodiment, the obstacle is the beacon 11, and in the other embodiments of the present invention, the obstacle may also be other objects, such as a door frame or a wall.
    • Second embodiment
  • In the first embodiment, the robot 12 advances towards the direction of the beacon 11 when detecting the first signal, i.e., the beacon signal. However, actually, the position from which the robot 12 enters the beacon signal area 13 is random, and thus in the present embodiment, the robot 12 may advance either towards or away from the direction of the beacon 11. As shown in Fig. 2, if the robot advances away from the direction of the beacon 11, the robot 12 may meet an obstacle, such as the other door frame or a wall, away from the beacon 11, or the robot may meet nothing. Thus, it is necessary to set a predetermined distance for which the robot can walk so that, if the robot detects an obstacle within the predetermined distance, a second signal is generated to allow the robot to exit from the beacon signal area 13, and if the robot meets no obstacle within the predetermined distance, a second signal is also generated to allow the robot to exit from the beacon signal area 13 when the robot has walked for the predetermined distance. Of course, such predetermined distance may also be applied to the case where the robot advances towards the direction of the beacon 11.
    • Third embodiment
  • The present embodiment is different from the first and the second embodiments in that the second signal is not generated by the robot meeting an obstacle or when the robot having walked for a predetermined distance, and a second signal generator used to generate a second signal is additionally provided on one side close to the beacon or provided on the beacon, with the robot 12 being provided with a corresponding second signal sensor. An area covered by the signal generated by the second signal generator defines a second signal area 14, and the second signal generator may be an active device (e.g., an infrared transmitter, an ultrasonic transmitter or a radio wave transmitter) or a passive device (such as an electronic tag, a magnetic stripe or a color card). When the beacon signal receiving module on the robot 12 detects the first signal, the robot 12 advances towards the direction of the beacon 11 until it enters the second signal area 14 and the second signal sensor on the robot 12 detects the second signal, and then the robot 12 exits from the beacon signal area 13. It is to be noted that, here, the reason why the second signal generator is provided within the beacon signal area 13 on one side close to the beacon is that the directionally transmitted beacon signal is spindle-shaped, and thus it can be better guaranteed that the second signal can be detected by the robot if the robot 12 advances towards the direction of the beacon when detecting the first signal. As a more preferable embodiment, the beacon 11 may be provided within the second signal area 14 so as to prevent the beacon 11 from being deformed or damaged due to the collision between the robot and the beacon 11, that is, it corresponds to that the second signal forms a virtual protective cover outside the beacon.
    • Fourth embodiment
  • The present embodiment differs from the third embodiment in that the first signal or the second signal is provided with certain encoded information which is capable of identifying a certain area such as a room. When the robot detects the second signal, the robot determines whether to cross over or exit from the beacon signal area based on the encoded information. Specifically, the robot can access the encoded information and the cleaning state information corresponding to each piece of the encoded information. When the robot detects certain encoded information, it may further extract the cleaning state information corresponding to such encoded information and perform a corresponding action based on the cleaning state information. For example, when the cleaning state information indicates that the area has been cleaned, the robot may exit from the beacon signal area, and when the cleaning state information indicates that the area has not been cleaned, the robot may cross over the beacon signal area. More specifically, the infrared transmission module or the ultrasonic transmission module that generates the first signal may transmit an infrared ray or an ultrasonic wave with the encoded information; the active device, such as an infrared transmitter, an ultrasonic transmitter or a radio wave transmitter, that generates the second signal may transmit an infrared ray, an ultrasonic wave, or a radio wave with the encoded information; the passive device, such as an electronic tag and a magnetic stripe, that generates the second signal may store the encoded information in advance, and then the robot 12 may read out the encoded information when entering the second signal area; and the color card can distinguish the rooms from each other through different colors that also constitute the encoded information.
  • The present embodiment is illustrated by a cleaning robot as an example. The robot 12 may access the room identification information and the cleaning state information of each room of the encoded information. Upon detecting the beacon signal, the robot 12 may advance towards the direction of the beacon, and when the robot reaches to the second signal area 14, it reads out the encoded information of the second signal (for example, the robot reaches to Room ①). Specifically, the robot may recognize that the room is Room ①, and further extract the stored cleaning state information for each room so as to determine whether Room ① has been cleaned or not. If it is determined that Room ① has been cleaned, the robot may not enter the room and exit from the beacon signal area 13, that is, the robot may leave the beacon signal area 13 from the same side as that when entering the beacon signal area 13. In other words, the robot 12 does not cross over the beacon signal area 13, but instead, it exits from such area along the initially entering direction. If it is determined that Room ① has not been cleaned, the robot enters Room ① so as to perform cleaning, and the robot 12 leaves the beacon signal area 13 from the opposed side to that when entering the beacon signal area 13. That is, the robot 12 has crossed over the beacon signal area 13. Upon completion of the cleaning, the robot may leave the room and update the cleaning state of Room ① to be " having been cleaned."
    • Fifth embodiment
  • The present embodiment differs from the fourth embodiment in that the beacon signal transmission module is provided with a plurality of sub-signal transmission modules, and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other. The first signal comprises two sub-signals transmitted in different directions. As shown in Fig. 3, the first signal of the beacon 44 located within Room ④ comprises two sub-signals 441, 442 perpendicular to each other. In the present embodiment, Room ④ is divided into three areas by one beacon. Preferably, the sub-signals 441, 442 carry with different encoded information such that the robot may recognize different areas. It is to be noted that those skilled in the art may correspondingly adjust the number of the set sub-signals and the angles at which the sub-signals are transmitted as needed so as to improve the operation efficiency of the robot.
  • It is additionally to be noted that, it may also be applied to the first embodiment, the second embodiment and the third embodiment that the first signal or the second signal carries with the encoded information as in the present embodiment. When the robot 12 enters the beacon signal area 13 and the beacon signal receiving module detects the first signal, the robot 12 advances towards the direction of the beacon 11 until it detects a second signal, and then the robot determines whether to cross over or exit from the beacon signal area based on the encoded information.

Claims (15)

  1. A guide-type virtual wall system comprising a beacon (11) and a robot (12), a transmission module of the beacon (11) directionally transmitting a first signal, an area covered by the first signal defining a beacon signal area (13), and the robot (12) comprising a beacon signal receiving module corresponding to the beacon signal transmission module, characterized in that,
    when the robot (12) enters the beacon signal area (13) and the beacon signal receiving module detects the first signal, the robot (12) advances towards the direction of the beacon (11) until it detects a second signal, and then the robot (12) crosses over or exits from the beacon signal area (13).
  2. A guide-type virtual wall system according to claim 1, characterized in that, the beacon signal transmission module is provided with a plurality of sub-signal transmission modules, and each of the sub-signal transmission modules transmits a sub-signal in a direction different from each other.
  3. A guide-type virtual wall system according to claim 2, characterized in that, the first signal or the second signal is provided with certain encoded information, and when the robot detects the second signal, the robot determines whether to cross over or exit from the beacon signal area based on the encoded information.
  4. A guide-type virtual wall system according to claim 3, characterized in that, the plurality of sub-signals are provided with different encoded information.
  5. A guide-type virtual wall system according to claim 1, characterized in that, when the robot detects the second signal, the robot exits from the beacon signal area.
  6. A guide-type virtual wall system according to any one of claims 1-5, characterized in that, the robot (12) further comprises an obstacle detecting module, and the second signal is generated when the robot (12) detects an obstacle.
  7. A guide-type virtual wall system according to claim 6, characterized in that, the obstacle detecting module is an infrared sensor, an ultrasonic sensor or a travel switch.
  8. A guide-type virtual wall system according to any one of claims 1-5, characterized in that, the guide-type virtual wall system further comprises a second signal generator provided on one side close to the beacon or provided on the beacon, and the robot (12) is provided with a corresponding second signal sensor, the second signal being generated by the second signal generator.
  9. A guide-type virtual wall system according to claim 8, characterized in that, an area covered by the signal generated by the second signal generator defines a second signal area, and the beacon is provided within the second signal area.
  10. A guide-type virtual wall system according to claim 9, characterized in that, the second signal generator is a passive device or an active device.
  11. A guide-type virtual wall system according to claim 10, characterized in that, the passive device is an electronic tag, a magnetic stripe or a color card, and the active device is an infrared transmitter, an ultrasonic transmitter, or a radio wave transmitter.
  12. A guide-type virtual wall system according to claim 1, characterized in that, the beacon signal transmission module is an infrared transmission module or an ultrasonic transmission module.
  13. A guide-type virtual wall system according to claim 12, characterized in that, the infrared transmission module or the ultrasonic transmission module comprises one or more emission sources.
  14. A guide-type virtual wall system according to claim 1, characterized in that, the robot is a floor cleaning robot, an air purification robot or a monitoring robot.
  15. A guide-type virtual wall system comprising a beacon (11) and a robot (12), a transmission module of the beacon (11) directionally transmitting a first signal, an area covered by the first signal defining a beacon signal area (13), and the robot (12) comprising a beacon signal receiving module corresponding to the beacon signal transmission module, characterized in that,
    when the robot (12) enters the beacon signal area (13) and the beacon signal receiving module detects the first signal, the robot (12) advances towards or away from the direction of the beacon (11) until it detects a second signal, and then the robot (12) crosses over or exits from the beacon signal area (13), the second signal being generated when the robot (12) walks for a certain distance or when the robot (12) detects an obstacle.
EP15857127.3A 2014-11-07 2015-11-06 Guide-type virtual wall system Active EP3216377B1 (en)

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CN201410624374.0A CN105629972B (en) 2014-11-07 2014-11-07 Guiding virtual wall system
PCT/CN2015/093955 WO2016070835A1 (en) 2014-11-07 2015-11-06 Guide-type virtual wall system

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EP3216377A4 (en) 2018-07-04
WO2016070835A1 (en) 2016-05-12
CN105629972B (en) 2018-05-18
EP3216377B1 (en) 2022-03-16
US20180004212A1 (en) 2018-01-04
CN105629972A (en) 2016-06-01
JP2018500641A (en) 2018-01-11

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